Design, Optimization, and Experimental Validation of a Handheld Nonconstant-Curvature Hybrid-Structure Robotic Instrument for Maxillary Sinus Surgery

被引：0

作者：

Wang, Xuchen ^{[1
]}

Ma, Xin ^{[1
,2
]}

Zhu, Puchen ^{[1
]}

Ng, Wee Shen ^{[1
]}

Zhang, Huayu ^{[1
]}

Xia, Xianfeng ^{[3
]}

Taylor, Russell H. ^{[4
]}

Au, Kwok Wai Samuel ^{[1
,2
]}

机构：

[1] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong, Peoples R China

[2] Multiscale Med Robot Ctr, Hong Kong, Peoples R China

[3] Sun Yat Sen Univ, Collaborat Innovat Ctr Canc Med, State Key Lab Oncol South China, Dept Endoscopy,Canc Ctr, Guangzhou 510060, Peoples R China

[4] Johns Hopkins Univ, Lab Computat Sensing & Robot, Baltimore, MD 21218 USA

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2024年 / 29卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Instruments; Robots; Cables; Bending; Surgery; Endoscopes; Optimization; Design optimization; flexible robot; medical robotics; surgical instruments; SYSTEM;

D O I：

10.1109/TMECH.2024.3402445

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Current robotic flexible medical tools employed in maxillary sinus surgery have shown certain limitations in dexterity and stiffness, resulting in large surgical incisions and potential unintended damage to patients. This article presents a novel four-degree-of-freedom handheld nonconstant-curvature hybrid-structure robotic instrument (HNHRI), which is 3.5 mm in diameter and has significant improvement in both dexterity and stiffness. To enhance dexterity and stiffness, a hybrid-structure instrument with multiple layers and nonconstant curvatures is proposed. A compact and lightweight actuation system is designed to fulfill the requirements of handheld surgical device. A flexible section curvature optimization framework is introduced to enhance reachability and dexterity. Through bench-top experiments and simulation surgery, its performance is validated. The flexible section curvature optimization framework increases the reachability to target region to 100% and achieves an average dexterity index of 48% within the maxillary sinus. Compared to current robotic flexible instruments, bending and torsional stiffness are improved by 197% and 150%, respectively. Utilizing the HNHRI in maxillary sinus surgery offers notable enhancement in both dexterity and stiffness, which has the potential to substantially improve the efficacy and safety of the procedures. These advancements might reduce surgical incisions and minimize surgery-related damage, thereby improving the clinical outcomes for patients.

引用

页码：3074 / 3082

页数：9